Variable Speed Limit Research Articles

Safety Effects of Connected and Automated Vehicle-Based Variable Speed Limit Control near Freeway Bottlenecks considering Driver’s Heterogeneity

A control strategy using variable speed limit (VSL) is a proven solution to reduce freeway collision risks and improve safety. However, the heterogeneity of human drivers restricts the effectiveness of traditional VSL controls, which may be made up by recent advanced technologies of connected and automated vehicles (CAVs). This study aims to propose a CAV-based VSL control system to address the limitations caused by human drivers on VSL control’s effectiveness. First, the heterogeneity of human drivers is analyzed, and its impact on the safety performance of VSL is examined. Specifically, a microscopic simulation platform is established, and two vehicle dynamic models developed for CAVs and human-driven vehicles (HDVs) are incorporated into the simulation platform. Based on a widely utilized surrogate safety measurement, time-to-collision, its derivative metrics are applied to evaluate collision risks, and the total travel time is used to assess operational efficiency. Extensive simulations are conducted to examine the performance of the proposed CAV-VSL system. The results indicate the following: (1) the heterogeneity of human drivers negatively affects the performance of the VSL; (2) the performance of the proposed control system in a mixed flow can be improved by advanced wireless communication technology; (3) CAVs are able to implement the VSL control strategy effectively resulting in the proactive reduction of the heterogeneity.

Influence of Variable Speed Limit Control on Fuel and Electric Energy Consumption, and Exhaust Gas Emissions in Mixed Traffic Flows

Modern urban mobility needs new solutions to resolve high-complexity demands on urban traffic-control systems, including reducing congestion, fuel and energy consumption, and exhaust gas emissions. One example is urban motorways as key segments of the urban traffic network that do not achieve a satisfactory level of service to serve the increasing traffic demand. Another complex need arises by introducing the connected and autonomous vehicles (CAVs) and accompanying additional challenges that modern control systems must cope with. This study addresses the problem of decreasing the negative environmental aspects of traffic, which includes reducing congestion, fuel and energy consumption, and exhaust gas emissions. We applied a variable speed limit (VSL) based on Q-Learning that utilizes electric CAVs as speed-limit actuators in the control loop. The Q-Learning algorithm was combined with the two-step temporal difference target to increase the algorithm’s effectiveness for learning the VSL control policy for mixed traffic flows. We analyzed two different optimization criteria: total time spent on all vehicles in the traffic network and total energy consumption. Various mixed traffic flow scenarios were addressed with varying CAV penetration rates, and the obtained results were compared with a baseline no-control scenario and a rule-based VSL. The data about vehicle-emission class and the share of gasoline and diesel human-driven vehicles were taken from the actual data from the Croatian Bureau of Statistics. The obtained results show that Q-Learning-based VSL can learn the control policy and improve the macroscopic traffic parameters and total energy consumption and can reduce exhaust gas emissions for different electric CAV penetration rates. The results are most apparent in cases with low CAV penetration rates. Additionally, the results indicate that for the analyzed traffic demand, the increase in the CAV penetration rate alleviates the need to impose VSL control on an urban motorway.

Paper the Resilience of ITS: Variable Message Signs Contribution to Road Network Resilience under Incident and High Congestion Conditions: A State of the Art Review

Any failure or disruption in traffic flow can propagate through the road network. However, the server of such disruption and its consequences depends on the robustness and resiliency of transportation systems. In this context, traffic management (TM) measures will help the traffic stream to prevent the occurrence of such conditions or recover faster after experiencing the disruption. The main objective of this paper was to elaborate the contribution of TM measures to the resiliency of transportation systems, as well as, their vulnerability against external threats. Furthermore, a concept design for variable message signs (VMS) is developed and evaluated in terms of contribution to the resiliency of road networks. As well, new vulnerabilities associated with the implementation of VMS are investigated. The result of this study pointed out that ramp-metering, variable message signs, variable speed limits, and autonomous vehicles are valuable tools to mitigate the severity of traffic disruptions. VMS is one of the most effective approaches that enhance traffic resiliency by reducing traffic inflow to congested areas. However, these measures have opened new vulnerabilities to threats, especially cyber-attacks. Several cases of VMS hacks have occurred in the world and provided false messages to road users. It gets even worse with using an integrated wireless communication interface. Therefore, it is necessary to consider the security of such systems in advance, before practical application.

A deep reinforcement learning-based intelligent intervention framework for real-time proactive road safety management

We propose a variable speed limit (VSL) system for improving the safety of urban expressways in real time. The system has two main functions: monitoring traffic data and then using the data to assess crash risk through a real-time crash prediction model (RTCPM). When the risk is high, the system triggers VSL control to restore traffic conditions to normal. The study addresses several weaknesses in existing VSL-based real-time safety interventions. Existing models are not widely applicable due to varying detector spacing among different freeways, and even within a study area. Therefore, with the existing detector spacing as an input, a cell transmission model (CTM) is used to simulate traffic states for the desired cell size. A dynamic Bayesian network (DBN) is used for modeling in the RTCPM. The proposed CTM model is then modified to allow VSL control. Whereas existing studies selected various VSL strategies from a predefined list, we employ a deep Q-network, which is a reinforcement learning-based machine learning algorithm, for the VSL control. Two busy segments of the Tokyo Metropolitan Expressway were used as the study area. After several iterations, our proposed real-time system reduced the crash risk by 19%.

Spatial-Temporal Traffic Flow Control on Motorways Using Distributed Multi-Agent Reinforcement Learning

The prevailing variable speed limit (VSL) systems as an effective strategy for traffic control on motorways have the disadvantage that they only work with static VSL zones. Under changing traffic conditions, VSL systems with static VSL zones may perform suboptimally. Therefore, the adaptive design of VSL zones is required in traffic scenarios where congestion characteristics vary widely over space and time. To address this problem, we propose a novel distributed spatial-temporal multi-agent VSL (DWL-ST-VSL) approach capable of dynamically adjusting the length and position of VSL zones to complement the adjustment of speed limits in current VSL control systems. To model DWL-ST-VSL, distributed W-learning (DWL), a reinforcement learning (RL)-based algorithm for collaborative agent-based self-optimization toward multiple policies, is used. Each agent uses RL to learn local policies, thereby maximizing travel speed and eliminating congestion. In addition to local policies, through the concept of remote policies, agents learn how their actions affect their immediate neighbours and which policy or action is preferred in a given situation. To assess the impact of deploying additional agents in the control loop and the different cooperation levels on the control process, DWL-ST-VSL is evaluated in a four-agent configuration (DWL4-ST-VSL). This evaluation is done via SUMO microscopic simulations using collaborative agents controlling four segments upstream of the congestion in traffic scenarios with medium and high traffic loads. DWL also allows for heterogeneity in agents’ policies; cooperating agents in DWL4-ST-VSL implement two speed limit sets with different granularity. DWL4-ST-VSL outperforms all baselines (W-learning-based VSL and simple proportional speed control), which use static VSL zones. Finally, our experiments yield insights into the new concept of VSL control. This may trigger further research on using advanced learning-based technology to design a new generation of adaptive traffic control systems to meet the requirements of operating in a nonstationary environment and at the leading edge of emerging connected and autonomous vehicles in general.

Active traffic management strategies for expressways based on crash risk prediction of moving vehicle groups

Active traffic management (ATM) strategies are useful methods to reduce crash risk and improve safety on expressways. Although there are some studies on ATM strategies, few studies take the moving vehicle group as the object of analysis. Based on the crash risk prediction of moving vehicle groups in a connected vehicle (CV) environment, this study developed various ATM safety strategies, that is, variable speed limits (VSLs), ramp metering (RM), and coordinated VSL and RM (VSL-RM) strategies. VSLs were updated to minimize the crash risk of multiple moving vehicle groups in the next time interval, which is 1 min, and the updated speed limits were sent directly to the CVs in the moving vehicle group. The metering rate and RM opening time were determined using mainline occupancy, the crash risk of upcoming moving vehicle groups, and the predicted time at which moving vehicle groups arrived at the on-ramp. The VSL-RM strategy was used to simultaneously control and coordinate traffic flow on the mainline and ramps. These strategies were tested in a well-calibrated and validated micro-simulation network. The crash risk index and conflict count were utilized to evaluate the safety effects of these strategies. The results indicate that the ATM strategies improved the expressway safety benefits by 2.84–15.92%. The increase in CV penetration rate would promote the safety benefits of VSL and VSL-RM. Moreover, VSL-RM was superior to VSL and RM in reducing crash risk and conflict count.

Evaluating connected vehicle-based weather responsive management strategies using weather-sensitive microscopic simulation

The purpose of this study is to perform analysis, modeling, and simulation (AMS) to investigate the effectiveness of connected vehicle (CV)-based Weather Responsive Management Strategies (WRMS) to address safety concerns on freeway corridors under adverse weather conditions. This study investigates three CV-based WRMS applications: Forward Collision Warning (FCW), Early Lane Change (ELC) advisory, and Variable Speed Limit (VSL), designs operational alternatives for WRMS using CV data, and develops an AMS tool using a weather-sensitive microscopic traffic simulator to understand the effectiveness of the three WRMS under different scenarios. Various CV market penetration rates (MPR), weather conditions, and WRMS algorithm settings are tested in this study. The case study is based on a real-world freeway corridor, a segment of the I–80 Connected Vehicle Testbed in Wyoming. The simulation results show the effectiveness of selected WRMS applications and provide operational insights that state and local transportation agencies may use in future strategic planning and operations of their weather-responsive programs.

A novel traffic conflict risk measure considering the effect of vehicle weight

Introduction: Vehicle weight is deterministic to the impact force in collision, and thus the injury risk of vehicle occupants. In China, involvement of heavy vehicles in overall and fatal crashes are prevalent, even though heavy vehicles only constitute a small proportion of overall registered motor vehicles. However, vehicle weight is rarely considered in the existing traffic conflict risk prediction and assessment models because of the unavailability of required data. Method: Novel risk indicators for the diagnosis of traffic conflict risk map, considering the effect of vehicle weight, are proposed, with the advantage of comprehensive traffic flow characteristics and vehicle weight data using Weigh-in-Motion (WIM) technique. Weight-incorporated risk level (WRL) and weight integrated risk level (WIRL) are established to quantify the traffic conflict risk, at an instant and over a specified time period, respectively, by extending the conventional traffic conflict risk measures including time-to-collision (TTC) and modified potential collision energy (PCE). Then, a microscopic traffic simulation model is adopted to estimate the traffic conflict risk map along a highway segment that has partial lane closure. The traffic conflict risk performances, between the risk indicators with and without considering the vehicle weight, are compared. Results: The traffic conflict risks estimated using conventional risk indicators without considering the vehicle weight are generally lower than that based on WRL and WIRL. The difference is more profound when the proportion of heavy vehicles in the traffic stream increases. Conclusions: The finding is indicative to remedial engineering measures including variable message sign, speed limit, and ramp metering that can mitigate the real-time crash risks on highways, especially in adverse environmental and weather conditions, with due consideration of vehicle composition and crash worthiness of vehicles.

The Space-Based Car-Following Model: Development and Application for Managed Motorway System Safety Evaluation

Traffic safety studies need more than what the current micro-simulation models can provide, as they presume that all drivers exhibit safe behaviors. Therefore, existing micro-simulation models are inadequate to evaluate the safety impacts of managed motorway systems such as Variable Speed Limits. All microscopic traffic simulation packages include a core car-following model. This paper highlights the limitations of the existing car-following models to emulate driver behaviour for safety study purposes. It also compares the capabilities of the mainstream car-following models, modelling driver behaviour with precise parameters such as headways and time-to-collisions. The comparison evaluates the robustness of each car-following model for safety metric reproductions. A new car-following model, based on the personal space concept and fish school model is proposed to simulate more accurate traffic metrics. This new model is capable of reflecting changes in the headway distribution after imposing the speed limit from variable speed limit (VSL) systems. This model can also emulate different traffic states and can be easily calibrated. These research findings facilitate assessing and predicting intelligent transportation systems effects on motorways, using microscopic simulation.

Multi-Class Freeway Congestion and Emission Based on Robust Dynamic Multi-Objective Optimization

In order to solve the problem of traffic congestion and emission optimization of urban multi-class expressways, a robust dynamic nondominated sorting multi-objective genetic algorithm DFCM-RDNSGA-III based on density fuzzy c-means clustering method is proposed in this paper. Considering the three performance indicators of travel time, ramp queue and traffic emissions, the ramp metering and variable speed limit control schemes of an expressway are optimized to improve the main road and ramp traffic congestion, therefore achieving energy conservation and emission reduction. In the VISSIM simulation environment, a multi-on-ramp and multi-off-ramp road network is built to verify the performance of the algorithm. The results show that, compared with the existing algorithm NSGA-III, the DFCM-RDNSGA-III algorithm proposed in this paper can provide better ramp metering and variable speed limit control schemes in the process of road network peak formation and dissipation. In addition, the traffic congestion of expressways can be improved and energy conservation as well as emission reduction can also be realized.

Coordinated Perimeter Flow and Variable Speed Limit Control for Mixed Freeway and Urban Networks

Recent studies have leveraged the existence of network macroscopic fundamental diagrams (MFD) to develop regional control strategies for urban traffic networks. Existing MFD-based control strategies focus on vehicle movement within and across regions of an urban network and do not consider how freeway traffic can be controlled to improve overall traffic operations in mixed freeway and urban networks. The purpose of this study is to develop a coordinated traffic management scheme that simultaneously implements perimeter flow control on an urban network and variable speed limits (VSL) on a freeway to reduce total travel time in such a mixed network. By slowing down vehicles traveling along the freeway, VSL can effectively meter traffic exiting the freeway into the urban network. This can be particularly useful since freeways often have large storage capacities and vehicles accumulating on freeways might be less disruptive to overall system operations than on urban streets. VSL can also be used to change where freeway vehicles enter the urban network to benefit the entire system. The combined control strategy is implemented in a model predictive control framework with several realistic constraints, such as gradual reductions in freeway speed limit. Numerical tests suggest that the combined implementation of VSL and perimeter metering control can improve traffic operations compared with perimeter metering alone.

Modelling speed behaviour in rural highways: Safety analysis of driving under adverse road-weather conditions.

This study proposes a methodical approach to model desired speed distributions under different road-weather and traffic conditions followed by identification of road-weather conditions with potentially higher safety risks in rural divided highways located in extremely cold regions. Desired speed distributions encompassing unique combinations of adverse road-weather and traffic conditions are modelled as normal distributions characterized by their means and standard deviations formulated based on two principal statistical theorems and techniques i.e., Central Limit Theorem and Minimum Variance Unbiased Estimation. Combination of the precipitation conditions, road surface conditions, time of the day, temperature, traffic flow and the heavy vehicle percentage at the time of travel were considered in defining the combinations of road-weather and traffic conditions. The findings reveal that simultaneous occurrence of particular precipitation and pavement conditions significantly affect the characteristics of the desired speed distribution and potentially expose drivers to elevated safety risks. Jurisdictions experiencing extreme road-weather conditions may adapt the proposed methodology to assess speed behaviour under different road-weather conditions to establishing and deploying weather-responsive traffic management strategies such as variable speed limit to regulate speeding and improve traffic safety in winter.

Safety evaluation of variable speed limit system in British Columbia

This study reports the safety benefits associated with the installation of Variable Speed Limit System (VSLS) on provincial highways in British Columbia (BC), Canada. A VSLS is an intelligent transportation system (ITS) that aims at increasing the safety level on highways by varying the speed limit according to downstream operational condition and/or weather conditions. The analysis made use of police-attended serious crashes (i.e. fatal + injury) that took place during winter seasons. Three winter seasons were available as a before-implementation period, and three winter seasons were available as an after-implementation period. The results of a simple-before-and-after showed overall reductions of 35.8% and 36.8% in winter serious collision (WSC) frequency and rate, respectively, were found for the evaluation corridors. An Empirical Bayes (EB) before-and-after safety evaluation was also carried out to ensure that the results are reliable. The EB analysis showed an overall reduction of 34.4% in WSC. An economic assessment of the system was undertaken and the results showed that the benefits of implementing a VSLS exceeded the system cost with an overall benefit-cost (B/C) ratio of 4.3 and a Net Present Value (NPV) of C$34.41 million. The results of this study may motivate stakeholders who are interested in pursuing similar systems for mitigating weather-related safety challenges.

Variable Speed Limit Control Method of Freeway Mainline in Intelligent Connected Environment

Freeway is an important component of transportation system. Bottleneck areas on freeway reduce driving safety and traffic efficiency. The development of intelligent connected technology provides a new idea for traffic management. In order to alleviate traffic congestion on the freeway bottleneck area, this paper proposes a variable speed limit (VSL) control method in intelligent connected environment. In this paper, the METANET model is improved by combining intelligent connected environment and VSL control theory. The total traffic capacity (TTC), total travel time (TTT), and total speed difference (TSD) are used to build multiobjective function. The microsimulation at SUMO by using the data from PeMS is employed as a case study to validate the proposed model. The results show that the VSL online control method in intelligent connected environment has better control effect. And the improvement is more obvious with increasing penetration rate of intelligent connected vehicle (ICV).

Multilevel weather detection based on images: a machine learning approach with histogram of oriented gradient and local binary pattern-based features

The primary objective of this study was to develop a trajectory-level weather detection system capable of providing real-time weather information at the road surface level using only a single video camera. Two texture-based features, including histogram of oriented gradient (HOG) and local binary pattern (LBP), were extracted from images and used as classification parameters to train the weather detection models using several machine learning classifiers, such as gradient boosting (GB), random forest (RF), and support vector machine (SVM). In addition, a unique multilevel model, based on a hierarchical structure, was also proposed to increase detection accuracy. Evaluation results revealed that the multilevel model provided an overall accuracy of 89.2%, which is 3.2%, 7.5%, and 7.9% higher compared to the SVM, RF, and GB model, respectively, using the HOG features. Considering the LBP features, the multilevel model also produced the best performance with an overall accuracy of 91%, which is 1.6%, 8.6%, and 9% higher compared to the SVM, RF, and GB models, respectively. A sensitivity analysis using the proposed multilevel model revealed that the classification accuracy improved with the increasing number of HOG and LBP features at the expense of more computational powers. The proposed weather detection method is cost-efficient and can be made widely available mainly due to the recent booming of smartphone cameras and can be used to expand and update the current weather-based variable speed limit (VSL) systems in a connected vehicle (CV) environment.

Enhancing Transferability of Deep Reinforcement Learning-Based Variable Speed Limit Control Using Transfer Learning

The study aims to evaluate the performance of the transfer learning algorithm to enhance the transferability of a deep reinforcement learning-based variable speed limits (VSL) control. The Double Deep Q Network (DDQN)-based VSL control strategy is proposed for reducing total time spent (TTS) on freeways. A real merging bottleneck is developed in the simulation and considered for the VSL control as the source scenario. Three types of target scenarios are considered, including the overspeed scenarios, adverse weather scenarios, and diverse capacity drop scenarios. A stable testing demand and a fluctuating testing demand are adopted to evaluate the effects of VSL control. The results show that by updating the neural networks, the transfer learning in the DDQN-based VSL control agent successfully transfers knowledge learned in the source scenario to other target scenarios. With the transfer learning, the entire training process is shortened by 32.3% to 69.8%, while keeping a similar maximum reward level, as compared to the VSL control with full learning from scratch. With the transferred DDQN-based VSL strategy, the TTS is reduced by 26.02% to 67.37% with the stable testing demand and 21.31% to 69.98% with the fluctuating testing demand in various scenarios, respectively. The results also show that when the task similarity between the source scenario and target scenario is relatively low, the transfer learning could lead to local optimum and may not achieve the global optimal control effects.

Variable Speed Limit Strategies Based on the Macro Hierarchical Control Traffic Flow Model

The superior traffic control system can promote the efficiency of mainstream expressway. As the effective method to smooth traffic system, the variable speed limits (VSL) strategies are discussed in an expressway traffic network. The dynamic OD estimation model is used to produce the real traffic information, which is loaded to the traffic network. Then, the prediction information of traffic variables and the VSL strategy are introduced to macro hierarchical control traffic flow model. A solution algorithm is further developed to find the optimal parameters of VSL by minimizing the total travel time and delay. The simulation results show that the proposed strategy perfects well, the traffic congestion is effectively alleviated, and the traffic efficiency of the road section is significantly improved. This framework can be adopted by transit managers for traffic efficiency.

Real-Time Safety Optimization of Connected Vehicle Trajectories Using Reinforcement Learning.

Speed advisories are used on highways to inform vehicles of upcoming changes in traffic conditions and apply a variable speed limit to reduce traffic conflicts and delays. This study applies a similar concept to intersections with respect to connected vehicles to provide dynamic speed advisories in real-time that guide vehicles towards an optimum speed. Real-time safety evaluation models for signalized intersections that depend on dynamic traffic parameters such as traffic volume and shock wave characteristics were used for this purpose. The proposed algorithm incorporates a rule-based approach alongside a Deep Deterministic Policy Gradient reinforcement learning technique (DDPG) to assign ideal speeds for connected vehicles at intersections and improve safety. The system was tested on two intersections using real-world data and yielded an average reduction in traffic conflicts ranging from 9% to 23%. Further analysis was performed to show that the algorithm yields tangible results even at lower market penetration rates (MPR). The algorithm was tested on the same intersection with different traffic volume conditions as well as on another intersection with different physical constraints and characteristics. The proposed algorithm provides a low-cost approach that is not computationally intensive and works towards optimizing for safety by reducing rear-end traffic conflicts.

Variable speed limits in the link transmission model using an information propagation method

Traffic management on (smart) motorways is becoming increasingly important to extract the most out of the limited capacity that is available, especially during peak periods. Accurate modelling of traffic management measures in traffic flow simulation is therefore paramount to make accurate short, and/or long-term predictions, to aid offline and online applications. In this work we propose a novel macroscopic network loading model that supports variable speed limits (VSL). Most existing aggregate network loading models that support VSL impose speed limits instantaneously across the entire road section, ignoring the fact that only vehicles passing the speed limit sign are aware of the new limit (either by a driver seeing the signal, or in case of autonomous/connected vehicles via infrastructure-to vehicle-technology), this leads to a discrepancy between model and reality that one ideally would want to avoid. Another challenge that arises is that current state-of-the-art macroscopic network loading models, such as the link transmission model (LTM), do not track the internal state of the link while constructing their solution. This is especially useful in large-scale (macroscopic) simulations where its increased efficiency is valued highly. Unfortunately, this desirable property makes modelling traffic management measures such as VSL much more challenging. Virtually all existing methods to date rely on tracking the link’s internal state to support VSL. Therefore, very few methods exist that offer proper support for VSL in LTM. At the same time, the methods that do exist have various limitations. In this work we propose a continuous-time LTM model that address these limitations, yields exact solutions, and supports VSL. The proposed solution method is an extension of the event-based LTM of Bliemer and Raadsen (2019) and Raadsen and Bliemer (2019) which can be considered a special case with a single speed limit. Three case studies are provided to demonstrate feasibility and general applicability of the proposed method and solution algorithm.

Optimization Model and Method of Variable Speed Limit for Urban Expressway

The urban expressway network is the main part of the urban traffic network carrying most of the city’s traffic pressure for its continuity and rapidity, but the control method of the traffic flow was too simple to other control methods in application in addition to the ramp control and the fixed speed control. In this paper, the theory of variable speed limit (VSL) was used to develop an optimal control model based on the improved traffic flow simulation model according to the characteristics of urban expressway traffic flow. The objective of the proposed model is to minimize the delay and maximize the traffic flow. It can adjust the traffic flow on the network in space time so that the whole network is in a state of equilibrium which not only is conducive to the control of the local traffic congestion and avoids the spread of congestion but also improves the traffic safety. The SPSA-based solution algorithm was proposed by taking into account the needs of real-time online applications. It can not only ensure the accuracy of the solution but also meet the requirements of the simulation time. The simulation results show that the variable speed limit can be optimized in moderate demand, and the proposed model and algorithm are effective and feasible in this paper. The conclusions are useful to help the traffic management department to formulate reasonable traffic control strategies.